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AP_BoardConfig: support KDECAN

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Until #9397 is fixed, we need to have separate params for each driver type, but code was left as generic as possible
This commit is contained in:
Francisco Ferreira 2018-03-19 16:07:05 +00:00
parent 8850ab73a6
commit 37965b13b6
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GPG Key ID: F63C20A6773E787E
3 changed files with 41 additions and 6 deletions
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23
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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@ -35,7 +35,10 @@
#include <AP_HAL_ChibiOS/CAN.h> #include <AP_HAL_ChibiOS/CAN.h>
#endif #endif
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_UAVCAN/AP_UAVCAN.h> #include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_KDECAN/AP_KDECAN.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -137,17 +140,31 @@ void AP_BoardConfig_CAN::init()
printf("can_mgr %d initialized well\n\r", i + 1); printf("can_mgr %d initialized well\n\r", i + 1);
if (prot_type == Protocol_Type_UAVCAN) { if (prot_type == Protocol_Type_UAVCAN) {
_drivers[i]._driver = new AP_UAVCAN; _drivers[i]._driver = _drivers[i]._uavcan = new AP_UAVCAN;
if (_drivers[i]._driver == nullptr) { if (_drivers[i]._driver == nullptr) {
AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1); AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
continue; continue;
} }
AP_Param::load_object_from_eeprom(_drivers[i]._driver, AP_UAVCAN::var_info); AP_Param::load_object_from_eeprom(_drivers[i]._uavcan, AP_UAVCAN::var_info);
} else if (prot_type == Protocol_Type_KDECAN) {
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
_drivers[i]._driver = _drivers[i]._kdecan = new AP_KDECAN;
_drivers[i]._driver->init(i); if (_drivers[i]._driver == nullptr) {
AP_HAL::panic("Failed to allocate KDECAN %d\n\r", i + 1);
continue;
}
AP_Param::load_object_from_eeprom(_drivers[i]._kdecan, AP_KDECAN::var_info);
#endif
} else {
continue;
} }
_drivers[i]._driver->init(i);
} }
} }
} }

3
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
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@ -25,6 +25,7 @@ public:
enum Protocol_Type : uint8_t { enum Protocol_Type : uint8_t {
Protocol_Type_None = 0, Protocol_Type_None = 0,
Protocol_Type_UAVCAN = 1, Protocol_Type_UAVCAN = 1,
Protocol_Type_KDECAN = 2,
}; };
void init(void); void init(void);
@ -120,6 +121,8 @@ private:
AP_Int8 _protocol_type; AP_Int8 _protocol_type;
Protocol_Type _protocol_type_cache; Protocol_Type _protocol_type_cache;
AP_HAL::CANProtocol* _driver; AP_HAL::CANProtocol* _driver;
AP_HAL::CANProtocol* _uavcan;
AP_HAL::CANProtocol* _kdecan;
}; };
Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES]; Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES];

21
libraries/AP_BoardConfig/canbus_driver.cpp
View File

@ -16,14 +16,22 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
#include "AP_BoardConfig_CAN.h" #include "AP_BoardConfig_CAN.h"
#include <AP_UAVCAN/AP_UAVCAN.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
#include <AP_KDECAN/AP_KDECAN.h>
#endif
// table of user settable CAN bus parameters // table of user settable CAN bus parameters
const AP_Param::GroupInfo AP_BoardConfig_CAN::Driver::var_info[] = { const AP_Param::GroupInfo AP_BoardConfig_CAN::Driver::var_info[] = {
// @Param: PROTOCOL // @Param: PROTOCOL
// @DisplayName: Enable use of specific protocol over virtual driver // @DisplayName: Enable use of specific protocol over virtual driver
// @Description: Enabling this option starts selected protocol that will use this virtual driver // @Description: Enabling this option starts selected protocol that will use this virtual driver
// @Values{Copter,Plane,Sub}: 0:Disabled,1:UAVCAN,2:KDECAN
// @Values: 0:Disabled,1:UAVCAN // @Values: 0:Disabled,1:UAVCAN
// @User: Advanced // @User: Advanced
// @RebootRequired: True // @RebootRequired: True
@ -31,7 +39,14 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::Driver::var_info[] = {
// @Group: UC_ // @Group: UC_
// @Path: ../AP_UAVCAN/AP_UAVCAN.cpp // @Path: ../AP_UAVCAN/AP_UAVCAN.cpp
AP_SUBGROUPPTR(_driver, "UC_", 2, AP_BoardConfig_CAN::Driver, AP_UAVCAN), AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_BoardConfig_CAN::Driver, AP_UAVCAN),
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
// @Group: KDE_
// @Path: ../AP_KDECAN/AP_KDECAN.cpp
AP_SUBGROUPPTR(_kdecan, "KDE_", 3, AP_BoardConfig_CAN::Driver, AP_KDECAN),
#endif
AP_GROUPEND AP_GROUPEND
}; };